Adaptive Fuzzy Containment Control for Multiple Uncertain Euler–Lagrange Systems With an Event-Based Observer
Zehua Wang, Dong Wang, Wei Wang · IEEE Transactions on Fuzzy Systems · 2019
This paper considers the containment control problem for multiple Euler-Lagrange systems with unknown nonlinear dynamics, where the dynamics of the leaders are different from those of the followers. In addition, some followers cannot obtain information of the leaders owing to the limited communication range. We first adopt an event-based observer to estimate a trajectory inside the convex hull spanned by states of the leaders, in which continuous communication can be avoided as well. Then, we further utilize the fuzzy logic systems to approximate the unknown nonlinear dynamics and propose an adaptive control scheme. Under the proposed scheme, we can ensure that the states of the followers can converge to the convex hull formed by these states of the leaders. Finally, a simulation example is given to validate the effectiveness of the proposed control scheme.